EP4427101A1 - Procédé et système permettant de fournir des applications de commande prioritaires - Google Patents

Procédé et système permettant de fournir des applications de commande prioritaires

Info

Publication number
EP4427101A1
EP4427101A1 EP22829767.7A EP22829767A EP4427101A1 EP 4427101 A1 EP4427101 A1 EP 4427101A1 EP 22829767 A EP22829767 A EP 22829767A EP 4427101 A1 EP4427101 A1 EP 4427101A1
Authority
EP
European Patent Office
Prior art keywords
control components
data streams
state variables
variables
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP22829767.7A
Other languages
German (de)
English (en)
Other versions
EP4427101C0 (fr
EP4427101B1 (fr
Inventor
Franz-Josef GÖTZ
Rainer SCHIEKOFER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP4427101A1 publication Critical patent/EP4427101A1/fr
Application granted granted Critical
Publication of EP4427101C0 publication Critical patent/EP4427101C0/fr
Publication of EP4427101B1 publication Critical patent/EP4427101B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/0255—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system the criterion being a time-optimal performance criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/80—Information retrieval; Database structures therefor; File system structures therefor of semi-structured data, e.g. markup language structured data such as SGML, XML or HTML
    • G06F16/84—Mapping; Conversion
    • G06F16/86—Mapping to a database

Definitions

  • the present invention relates to a method for providing time-critical control applications, in particular control applications in an industrial automation system, and a system that is suitable for carrying out the method.
  • An industrial automation system usually includes a large number of automation devices networked with one another via an industrial communication network and is used in the context of manufacturing or process automation to control or regulate systems, machines or Devices . Due to time-critical framework conditions in industrial automation systems, real-time communication protocols such as PROFINET, PROFIBUS, Real-Time Ethernet or Time-Sensitive Networking (TSN) are predominantly used for communication between automation devices.
  • real-time communication protocols such as PROFINET, PROFIBUS, Real-Time Ethernet or Time-Sensitive Networking (TSN) are predominantly used for communication between automation devices.
  • WO 2019/001718 A1 describes a method for data transmission that enables a combination of protected communication and low network configuration effort. In this case, when resources are reserved for the transmission of data streams (streams) from a transmitter to a receiver, at least two paths that are redundant at least in sections are reserved. By extending a reservation protocol, duplicate filters are automatically configured at network nodes assigned to redundant path sections during resource reservation.
  • an individual time window is specified within predetermined time intervals for data streams that are assigned to selected control applications running on terminals.
  • the time windows each have an individual cycle time that is a multiple of a general cycle time or corresponds to the general cycle time.
  • first resp. second communication devices check for each of the selected control applications whether a specified time window for data transmission is available. When a time window is available, information about the start of the time window is transmitted within the specified time intervals to the terminal device on which the respective selected control application is running. Data streams that are assigned to selected control applications are each transmitted according to the information about the beginning of the individual time window.
  • WO 2017/064560 A1 describes a method for providing centralized management of a software-defined automation system (SDA system).
  • SDA system includes a collection of controller nodes and a logically centralized yet physically distributed collection of compute nodes by monitoring activities of the compute nodes.
  • System components can be used to monitor execution, network and security environments within the SDA system in order to identify critical events in a given environment. At least one component in the specified environment is corrected in response to a recognized critical event. A correction within the specified environment has the effect that a correction of at least one component is initiated within at least one additional environment.
  • control applications are usually executed in real-time systems, such as programmable logic controllers, so that a deterministic sequence of the control applications can be ensured.
  • a controlled or controlled process measurement or State variables queried as input signals.
  • the control applications determine manipulated variables as output signals on the basis of the input signals queried.
  • the output signals are sent via a communication system that is ideally real-time capable to be controlled or devices to be controlled are transmitted.
  • control applications have no direct access to the hardware and control flow environment. This means, for example, that control commands cannot be executed immediately.
  • a high-priority control application it is possible for a high-priority control application to be displaced or replaced by another application. is executed with a delay. This can happen, for example, when in a virtualized Environment two control applications are running that request exclusive access to the same resource at the same time.
  • the present invention is based on the object of creating a method for providing time-critical control applications within environments that have no real-time capability per se or. and to specify a suitable device for carrying out the method.
  • control applications are provided by means of sequence control components, which can each be loaded into a sequence control environment formed by means of a server device and can be executed there.
  • the control applications determine from periodically recorded measurement or State variables are each periodically manipulated variables for a process to be controlled or regulated.
  • the flow control components are preferably software containers, Java bytecode or application programs running on operating systems, while the flow control environment can be a container runtime environment such as a Docker Engine, a Java Virtual Machine or an operating system without real-time extensions.
  • alternative micro-virtualization concepts such as snaps, can also be used for the sequence control components.
  • the flow control environment can also include a snap core.
  • Software containers are preferably each designed and set up to run isolated from other software containers or container groups within the flow control environment on a host operating system that is installed in the server device. In particular, the software containers each use a kernel of the host operating system of the server device together with other software containers running on the server device.
  • sequence control components that are redundant to one another are executed in parallel to one another.
  • the mutually redundant sequence control components transmit the determined manipulated variables, including a sequence number assigned to the respective process cycle, to actuators or control units .
  • the actuators or Control units based on the sequence numbers duplicates of the transmitted manipulated variables and filter them accordingly.
  • the mutually redundant sequence control components determine the manipulated variables for a respective process cycle, which is based on a respective recording time of the measurement or State variables follows as soon as a majority of the mutually redundant sequence control components have an error-free presence of the measurement or State variables for the respective recording time signaled.
  • the present invention enables execution of time-critical control applications in flow control environments that themselves have no real-time capability, specifically through the above coordination of mutually redundant flow control components or through a coordinated , redundant transmission of the determined manipulated variables .
  • a particularly high level of availability results when the mutually redundant sequence control components transmit the manipulated variables to the actuators or transmit control units or when the manipulated variables are each transmitted to mutually redundant control units.
  • the mutually redundant sequence control components subscribe to data streams with the periodically recorded measurement or state variables .
  • the data streams with the periodically recorded measurement or State variables through respective data sources or Sensors are made known in each case by means of data stream announcements and sent to a multicast address which is assigned to the flow control components subscribing to the data stream in question.
  • state variables are sent to the mutually redundant sequence control components, including a sequence number assigned to the respective acquisition time.
  • the mutually redundant sequence control components transmit the determined manipulated variables by means of data streams to the actuators or control units .
  • To send the measurement or The same sequence numbers are used for the status variables for the respective recording time as for the transmission of the determined manipulated variables for the respective process cycle, which is based on the respective recording time of the measurement or State variables follows. In this way, stochastic properties of distributed systems can be used efficiently in combination with communication system functions for the deterministic and redundant transmission of data streams to allow stochastic determinism for the control applications.
  • quality of service requirements are specified for transmission of the data streams.
  • resources for the transmission of the data streams are reserved in the communication devices forwarding the data streams, for example switches, bridges or routers. If there is sufficient availability, these resources are reserved in the communication devices forwarding the data streams and include usable transmission time windows, bandwidth, guaranteed maximum latency, queue number, queue cache or Address Cache in Switches or Bridges .
  • the communication devices which forward the data streams, via a time-sensitive network, in particular according to IEEE802. 3, IEEE802. IQ, IEEE802. 1AB, IEEE802. 1AS, IEEE802. IBA or . IEEE802. 1CB, interconnected .
  • the data streams can be forwarded by means of frame preemption, in particular in accordance with IEEE 802 .
  • IQ Time-Aware Shaper, specifically according to IEEE 802. IQ, Credit-Based Shaper, specifically according to IEEE 802. IQ, Burst Limiting Shaper, Peristaltic Shaper or . Priority-Based Shaper .
  • Priority-Based Shaper In this way, it is possible to fall back on proven communication system functions that can be implemented reliably for the deterministic and redundant transmission of data streams.
  • the mutually redundant sequence control components signal the error-free presence of the measurement or State variables for the respective recording time, advantageously in each case by means of a confirmation message to the other gene redundant flow control components.
  • the control variables last determined are transmitted again. This ensures a defined system behavior even in the event of an error.
  • the measuring or State variables for example, if they are not received by the flow control components within a permissible latency from the respective acquisition time.
  • the system according to the invention for providing time-critical control applications is suitable for carrying out a method in accordance with the above statements and includes a number of server devices, a number of flow control environments formed by means of the server devices and a number of flow control components for providing the control applications.
  • the sequence control components can each be loaded into a sequence control environment formed by means of a server device and can be executed there.
  • the control applications are set up and designed for this, from periodically recorded measurement or To determine state variables in each case periodically manipulated variables for a process to be controlled or regulated.
  • sequence control components of the system according to the invention are set up and designed to be executed in parallel as mutually redundant sequence control components, each with uniform data streams with the periodically recorded measurement or To subscribe to state variables and to transmit the determined manipulated variables by means of data streams to actuators or Submit control units. Accordingly, the system according to the invention is set up and designed for that quality of service requirements are specified for transmission of the data streams and the measurement or State variables including a sequence number assigned to a j ejan acquisition time are sent to the mutually redundant sequence control components.
  • sequence control components are set up and designed to transmit the determined manipulated variables, including a sequence number assigned to the respective process cycle, to the actuators or to transmit control units. Accordingly, the actors or Control units set up and designed to use the sequence numbers to identify and filter duplicates of the transmitted manipulated variables.
  • the system according to the invention is set up and designed for sending the measurement or State variables for the respective recording time the same sequence numbers are used as for the transmission of the determined manipulated variables for the respective process cycle, which is based on the respective recording time of the measurement or State variables follows.
  • the system is set up and configured so that resources for the transmission of the data streams are reserved in the communication devices forwarding the data streams in accordance with the quality of service requirements given sufficient availability. The resources include usable transmission time window, bandwidth, guaranteed maximum latency, number of queues, queue cache or Address Cache in Switches or Bridges .
  • the system shown in the figure includes a number of server devices 101-103 for providing control applications of an industrial automation system.
  • the control applications of the industrial automation system are exemplary for time-critical services and can also include monitoring functions.
  • the server devices 101-103 are connected via a communication network comprising a number of switches 201-203 to two mutually redundant input/output units 301-302, which serve as control units for connected sensors and actuators.
  • a camera system 310 can be used as a sensor and by o . g .
  • Control applications controlled machine can be connected as an actuator.
  • the switches 201-203 are in particular for forwarding data streams via a time-sensitive network according to IEEE802. 3, IEEE802. IQ, IEEE802. 1AB, IEEE802. 1AS , IEEE802 . IBA and IEEE802. 1CB designed .
  • the data streams can be forwarded, for example, by means of frame preemption in accordance with IEEE 802. IQ, Time-Aware Shaper according to IEEE 802. IQ, Credit-Based Shaper according to IEEE 802. IQ, Burst Limiting Shaper, Peristaltic Shaper or . Priority-Based Shaper .
  • the server devices 101-103 can use the control applications to implement, for example, functions of control devices of an industrial automation system, such as programmable logic controllers. In this way, the server device can 101- 103 in particular for an exchange of control and measured variables with the Server facilities 101-103 controlled machines or devices are used.
  • the server devices 101-103 can determine suitable manipulated variables for the machines or devices from measured or observed state variables.
  • the server device 101-103 can implement functions of operator control and monitoring stations using the control applications and can thus be used to visualize process data or measurement and control variables that are processed or recorded by automation devices.
  • the server devices 101-103 can be used to display values of a control circuit and to change control parameters or control programs.
  • the control applications are provided in the server devices 101-103 by means of flow control components 113, 123, 133, which can be loaded into a flow control environment 112, 122, 132 formed by the respective server device 101-103 and can be executed there.
  • the flow control environments 112, 122, 132 are each installed as an application on a host operating system 111, 121, 131 of the respective server device 101-103.
  • sequence control components 114, 124 for non-time-critical application programs can also be executed within the sequence control environments.
  • the flow control components 113-114, 123-124, 133 are or include software containers that are isolated from other software containers, container groups or pods within the flow control environments 112, 122, 132 on the respective host running operating system 111, 121, 131.
  • the soft- ware container together with other software containers running on the respective server device 101-103 a kernel of the respective host operating system 111,
  • the flow control environments 112, 122, 132 are preferably container runtime environments or container engines. According to alternative embodiments, the scheduling components 113-114, 123-124, 133 may comprise Java bytecode or application programs running on operating systems, while the scheduling environments 112,
  • 122, 132 in this case are each a Java Virtual Machine or an operating system without real-time extensions.
  • Isolation of the sequence control components or isolation of selected operating system means from one another can be implemented in particular by means of control groups and namespacing.
  • Process groups can be defined using control groups in order to restrict available resources for selected groups.
  • Individual processes or control groups can be isolated or hidden from other processes or control groups via namespaces.
  • the control applications periodically determine manipulated variables 11 for a process to be controlled or regulated from periodically recorded measured or state variables 12 .
  • a plurality of mutually redundant sequence control components 113, 123, 133 are executed in parallel.
  • the mutually redundant sequence control components 113 , 123 , 133 each subscribe to uniform data streams with the periodically recorded measurement or state variables 12 , which can originate from the camera system 310 in particular.
  • the data streams with the periodically recorded measurement or status variables are made known by respective data sources or sensors 310 by means of data stream announcements, eg Talker Advertise, and sent to a multicast Address sent subscribing to the respective data stream
  • Flow control components 113, 123, 133 is assigned.
  • Quality of service requirements can be specified in particular on the talker or listener side for transmission of the data streams, so that resources for the transmission of the data streams are reserved in the communication devices forwarding the data streams, such as switches 201-203, in accordance with the quality of service requirements. This presupposes that sufficient resources are available in the communication devices forwarding the data streams.
  • the resources include, for example, usable transmission time window, bandwidth, guaranteed maximum latency, number of queues, queue cache or address cache in switches or bridges.
  • the mutually redundant sequence control components 113, 123, 133 determine the manipulated variables 11 for a respective process cycle, which follows a respective acquisition time of the measured or state variables 12, as soon as a majority of the mutually redundant sequence control components have an error-free presence of the measured or state variables 12 for indicates the respective recording time.
  • the mutually redundant sequence control components 113, 123, 133 signal the error-free presence of the measured or state variables 12 for the respective acquisition time by means of a confirmation message 10 to the remaining redundant sequence control components.
  • the measured or state variables 12 are present late or with errors in the majority of the mutually redundant sequence control components 113, 123, 133, an error can be signaled or a new transmission can be signaled the last determined manipulated variables 11 take place.
  • the measured or state variables are present with a delay if they are not received by the sequence control components within a permissible latency from the respective acquisition time.
  • the mutually redundant sequence control components 113, 123, 133 transmit the determined manipulated variables 11, including a sequence number assigned to the respective process cycle, to actuators 320 or control units 31-32. This can be done, in particular, independently of whether or when the measured or state variables 12 for the respective acquisition time are present without errors in the majority of the mutually redundant sequence control components 113, 123, 133.
  • the actuators 320 or control units 31-32 can use the sequence numbers to identify and filter duplicates of the transmitted manipulated variables 11 . Such duplicate filtering can also be performed by the switches 201-203 after the manipulated variables 11 have been forwarded via paths that are disjoint in sections.
  • the measured or state variables 12 are preferably sent to the mutually redundant sequence control components 113, 123, 133 by means of the subscribed data streams, including a sequence number assigned to the respective acquisition time.
  • the mutually redundant sequence control components 113, 123, 133 transmit the determined manipulated variables 11 by means of data streams to the actuators 320 or control units 31-32.
  • the same sequence numbers are used to send the measured or state variables 12 for the respective acquisition time as for transmitting the determined manipulated variables 11 for the respective process cycle that follows the respective acquisition time of the measured or state variables 12 .
  • Duplicate filtering can be based on a maximum variance of frame or Packet times when transmitting the manipulated variables 11 a size or. depth of a duplicate filter can be set .
  • a minimum interval length can be taken into account, with which the measurement or State variables 12 periodically by the respective data sources or. Sensors 310 are sent.
  • a variance from minimum and maximum running times via duplicates of manipulated variables 11, which are generated by mutually redundant sequence control components 113, 123, 133, can be determined relatively easily at connection points, for example at switches 201-203.
  • functions for minimizing jitter can be used in deterministic communication networks at the merging points. Targeted delays in the transmission of the manipulated variables 11 or the measurement or State variables 12, a reduced jitter can be achieved.
  • a supervisor 100 is provided for the use of redundant data transmission, asynchronous communication, diagnosis of distributed systems and for the coordination of the sequence control components 113, 123, 133 that are redundant to one another.
  • redundant sequence control components can be added or removed by means of the supervisor. The removal of flow control components from a cluster of redundant flow control components is particularly useful if a flow control component requires measuring or Status variables received late or processed . In this way, latencies and jitter can be reduced.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Programmable Controllers (AREA)
  • Small-Scale Networks (AREA)

Abstract

L'invention concerne des applications de commande prioritaires au moyen de composants de commande de flux (113, 123, 133) qui sont chacun aptes à être chargés dans un environnement de commande de flux (112, 122, 132) formé au moyen d'un dispositif serveur (101-103) et exécutés dans ce dernier. Les applications de commande déterminent chacune périodiquement, à partir de grandeurs de mesure et/ou d'état (12) acquises périodiquement, des grandeurs de commande (11) destinées à un processus à commander ou à réguler. Une pluralité de composants de commande de flux mutuellement redondants (113, 123, 123) sont exécutés en parallèle les uns avec les autres. Les composants de commande de flux mutuellement redondants (113, 123, 133) déterminent les grandeurs de commande (11) destinées à un cycle de processus respectif qui suit un temps d'acquisition respectif des grandeurs de mesure et/ou d'état (12) dès qu'une majorité des composants de commande de flux mutuellement redondants signalent la présence sans erreur des grandeurs de mesure et/ou d'état relativement au temps d'acquisition respectif. En variante ou en plus, les grandeurs de commande déterminées sont transmises, conjointement à un numéro de séquence attribué au cycle de traitement respectif, à des actionneurs (320) et/ou à des unités de commande (31-32).
EP22829767.7A 2021-12-29 2022-12-05 Procédé et système de fourniture d'applications de commande à temps critique Active EP4427101B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP21218157.2A EP4206831A1 (fr) 2021-12-29 2021-12-29 Procédé et système de fourniture d'applications de commande à temps critique
PCT/EP2022/084397 WO2023126127A1 (fr) 2021-12-29 2022-12-05 Procédé et système permettant de fournir des applications de commande prioritaires

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EP4427101A1 true EP4427101A1 (fr) 2024-09-11
EP4427101C0 EP4427101C0 (fr) 2025-08-27
EP4427101B1 EP4427101B1 (fr) 2025-08-27

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EP (2) EP4206831A1 (fr)
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CN118475886A (zh) 2024-08-09
EP4427101B1 (fr) 2025-08-27
US20240419129A1 (en) 2024-12-19
CN118475886B (zh) 2025-03-04

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